27 citations · 74 across the 24 of their papers we have counts for
4 papers · 1 filter
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
Jihao Huang, Zhitao Liu, Jun Zeng +2
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to ac…
Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the mini…
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Jihao Huang, Jun Zeng, Xuemin Chi +3
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimizatio…
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments
Yifan Zeng, Suiyi He, Han Hoang Nguyen +4
This work introduces a novel control strategy called Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which aims to improve closed-loop performance with local traj…